Compute the matrix exponent for skew-symmetric matrices
according to the usual Taylor expansion. The expansion is
significantly simplified for skew-symmetric matrices, see
Moakher (2002). Maps a matrix belonging to the lie
algebra $so(3)$ into the lie group $SO(3)$.
Usage
exp_skew(H)
Arguments
H
single $3\times 3$ skew-symmetric
matrix or $n\times 9$ sample of
skew-symmetric matrices.
Value
Matrix in $SO(3)$ $e^{\bm A}$.
References
Moakher M (2002). "Means and averaging in the group of
rotations." SIAM Journal on Matrix Analysis and
Applications, 24(1), pp. 1-16.